/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */

#include <dart/dart.hpp>
#include <dart/gui/osg/osg.hpp>

class WamWorld;

class InputHandler : public ::osgGA::GUIEventHandler
{
public:
  InputHandler(
      dart::gui::osg::Viewer* viewer,
      WamWorld* teleop,
      const dart::dynamics::SkeletonPtr& wam,
      const dart::simulation::WorldPtr& world);

  // Documentation inherited
  bool handle(
      const ::osgGA::GUIEventAdapter& ea, ::osgGA::GUIActionAdapter&) override;

protected:
  void initialize();

protected:
  dart::gui::osg::Viewer* mViewer;

  WamWorld* mWamWorld;

  dart::dynamics::SkeletonPtr mWam;

  dart::simulation::WorldPtr mWorld;

  Eigen::VectorXd mRestConfig;

  std::vector<bool> mConstraintActive;

  std::vector<std::size_t> mEndEffectorIndex;

  std::vector<std::pair<Eigen::Vector6d, Eigen::Vector6d> > mDefaultBounds;

  dart::common::aligned_vector<Eigen::Isometry3d> mDefaultTargetTf;
};
